CN109615876A - A kind of vehicle is in position detecting method and system - Google Patents
A kind of vehicle is in position detecting method and system Download PDFInfo
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- CN109615876A CN109615876A CN201811626598.XA CN201811626598A CN109615876A CN 109615876 A CN109615876 A CN 109615876A CN 201811626598 A CN201811626598 A CN 201811626598A CN 109615876 A CN109615876 A CN 109615876A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention provides a kind of vehicles in position detecting method and system, this method comprises: detecting on corresponding parking stall whether have vehicle using earth magnetism wagon detector and range finder cooperation；Obtain the ground magnetic value of the earth magnetism wagon detector detection and the range information of range finder detection；According to described ground magnetic value and the range information, judge whether the range finder is abnormal；When the range finder exception, according to described ground magnetic value, judge whether there is vehicle on corresponding parking stall；When the range finder is normal, according to the range information, judge whether there is vehicle on corresponding parking stall；I.e. when the range finder exception, it is subject to the vehicle detection result of the earth magnetism wagon detector, when the range finder is normal, it is subject to the vehicle detection result of the range finder, it can be improved the accuracy rate that vehicle detects in place by this method, the case where effectively avoiding missing inspection, false retrieval, to prevent user's parking fee evasion.
Description
Technical field
The present invention relates to parking stall management technical fields, and in particular to a kind of vehicle is in position detecting method and system.
Background technique
With the development of economy with the raising of living standards of the people, automobile increasingly near-earth walks close to people's lives, more next
The problem of mode that more persons selects self driving is outgoing, causes public parking position resource nervous, parking difficulty.Existed by vehicle
Position detection can effectively solve the problems, such as parking management to prenotice car owner or parking stall management personnel.Currently, traditional vehicle
Detection scheme list in place is detected by a kind of mode.Such as only rely on and geomagnetism detecting module is set in parking stall middle position, lead to
Cross whether the variation for detecting geomagnetic field lines on the parking stall has vehicle to detect on the parking stall, still, single ground magnetic vehicle
It is relatively low in position detecting method accuracy rate, encounter changes of magnetic field caused by vehicle it is unobvious when, be easy to appear the feelings of missing inspection, false retrieval
Condition.In another example still, single ultrasound examination is easy to be influenced by the external world by whether having vehicle on the ultrasound examination parking stall
And fail, such as encounter and signposted, rain and snow weather, frost probe, blocked up situations such as popping one's head in fee evasion by customer's plug thing body, it is easy
The case where existing missing inspection, false retrieval.
Summary of the invention
The object of the present invention is to provide a kind of vehicles in position detecting method and system, can be improved the standard that vehicle detects in place
True rate, the case where effectively avoiding missing inspection, false retrieval, to prevent user from stopping fee evasion.
The embodiment of the invention provides a kind of vehicles in position detecting method, comprising:
Detect on corresponding parking stall whether have vehicle using earth magnetism wagon detector and range finder cooperation；
Obtain the ground magnetic value of the earth magnetism wagon detector detection and the range information of range finder detection；
According to described ground magnetic value, judge whether the state of the parking stall changes；
When the state for judging the parking stall according to described ground magnetic value changes, according to the range information, described in judgement
Whether range finder detects that the parking stall is car-free status and the shape in the parking stall before the state of the parking stall changes
Whether state detects that the parking stall is car-free status after changing；
When the range finder detects the parking stall for car-free status and in institute before the state of the parking stall changes
It detects that the parking stall is car-free status after stating the state change of parking stall, determines that the range finder is abnormal；When the distance
When detector exception, according to described ground magnetic value, judge whether there is vehicle on corresponding parking stall；
When the range finder is normal, according to the range information, judge whether there is vehicle on corresponding parking stall.
Preferably, the range finder is ultrasonic detector or microwave radar detector or pyroscan.
Preferably, the vehicle further includes range finder abnormal restoring judgment step in position detecting method:
When the number for having at least 2/N distance value in one group of range information in the range information that the range finder detects
When value is in the first setting numberical range, determine that the range finder restores normal；
Wherein, range information described in one group includes N number of distance value.
Preferably, described to judge whether the state of the parking stall changes according to described ground magnetic value, it specifically includes:
When the current detected state of the earth magnetism wagon detector is no vehicle, the fluctuation peak value of local magnetic value reaches first
Preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbance be when reaching the second preset value, to judge vehicle
Position state changes；The parking space state change is judged as have vehicle to enter the parking stall, and there is vehicle in the parking stall；
When the current detected state of the earth magnetism wagon detector, which is, vehicle, the fluctuation peak value of local magnetic value reaches the 4th
Preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbance be when reaching five preset values, to judge vehicle
Position state changes；The parking space state change is judged as have vehicle to leave the parking stall, and the parking stall is without vehicle.
Preferably, described according to the range information, judge whether there is vehicle on corresponding parking stall, specifically includes:
The range information is one group of range information that the range finder is continuously detected according to setting time interval；Its
In, range information described in one group includes N number of distance value；
When at least 2/N distance value in N number of distance value numerical value second setting numberical range in, judge the vehicle
There is vehicle in position；
When at least 2/N distance value in N number of distance value numerical value third setting numberical range in, judge the vehicle
Position is without vehicle.
Preferably, the vehicle detection step of the range finder further include:
When the range finder detects that the parking stall is with vehicles, controls the range finder and enter suspend mode
State, and reach third preset value in the fluctuation peak value of described ground magnetic value, when triggering the range finder according to the first setting
Between interval detection M group range information；Wherein, M vehicle detection result is obtained according to M group range information correspondence；
When the corresponding vehicle detection result of any one group of range information is no vehicle in the M group range information, institute is judged
Parking stall is stated without vehicle.
Preferably, the vehicle detection step of the range finder further include:
When the range finder detects that the parking stall is car-free status, controls the range finder and enter suspend mode
State, and reach third preset value in the fluctuation peak value of described ground magnetic value, when triggering the range finder according to the first setting
Between interval detection S group range information；When the corresponding vehicle detection result of continuous L group range information in the S group range information
It is to judge that there is vehicle in the parking stall when having vehicle；
Wherein, S >=L.
Preferably, the vehicle detection step of the range finder further include:
When the range finder detects that the parking stall is car-free status, the range finder is controlled according to second
Setting time interval detecting distance information judges institute when the corresponding vehicle detection result of continuous L group range information is to have vehicle
Stating parking stall has vehicle；And reach third preset value in the fluctuation peak value of described ground magnetic value, the range finder is triggered according to first
Detect S group range information in setting time interval；Wherein, S >=L；
When the corresponding vehicle detection result of continuous L group range information in the S group range information is to have vehicle, judgement
There is vehicle in the parking stall.
Preferably, the vehicle includes: in position detecting method
When the range finder detects that the parking stall is with vehicles, by the current of the earth magnetism wagon detector
Detecting state is updated to vehicles.
The embodiment of the invention also provides a kind of vehicle in-place detection systems, comprising:
Detect starting module, for using earth magnetism wagon detector and range finder cooperation detect on corresponding parking stall whether
There is vehicle；
Data obtaining module, for obtaining the ground magnetic value and the range finder of the earth magnetism wagon detector detection
The range information of detection；
First vehicle on-site judgment module, for judging whether the state of the parking stall changes according to described ground magnetic value；
Second vehicle on-site judgment module, for when judged according to described ground magnetic value the parking stall state change when,
According to the range information, judge whether the range finder detects that the parking stall is before the state of the parking stall changes
Car-free status and the state of the parking stall change after whether detect the parking stall be car-free status；
Abnormal judgment module, for detecting the parking stall before the state of the parking stall changes when the range finder
It detects that the parking stall is car-free status for car-free status and after the change of the state of the parking stall, determines the range finder
It is abnormal；
Third vehicle on-site judgment module is used for when the range finder exception, according to described ground magnetic value, judgement pair
Whether answer on parking stall has vehicle；
4th vehicle on-site judgment module, for according to the range information, judging when the range finder is normal
Whether there is vehicle on corresponding parking stall.
Compared with the existing technology, a kind of vehicle provided in an embodiment of the present invention is in the beneficial effect of position detecting method:
Detect on corresponding parking stall whether have vehicle using earth magnetism wagon detector and range finder cooperation；Obtain the earth magnetism vehicle detection
The ground magnetic value of device detection and the range information of range finder detection；According to described ground magnetic value and the range information,
Judge whether the range finder is abnormal；When the range finder exception, according to described ground magnetic value, corresponding parking stall is judged
On whether have vehicle；When the range finder is normal, according to the range information, judge whether there is vehicle on corresponding parking stall；I.e.
When the range finder exception, it is subject to the vehicle detection result of the earth magnetism wagon detector, when the distance measurement
When device is normal, it is subject to the vehicle detection result of the range finder.It can be improved what vehicle detected in place by this method
Accuracy rate, the case where effectively avoiding missing inspection, false retrieval, to prevent user from stopping fee evasion.
Detailed description of the invention
Fig. 1 is a kind of usage state diagram of vehicle detection apparatus provided by the invention.
Fig. 2 is a kind of flow chart of vehicle in position detecting method of the offer of the embodiment of the present invention one；
Fig. 3 is a kind of schematic diagram of vehicle in-place detection system provided by Embodiment 2 of the present invention；
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, it is the usage state diagram of vehicle detection apparatus provided by the invention, the vehicle detection apparatus packet
It includes: being mounted on car lock main body, the circuit board, range finder, warning light, voice module of parking stall side, and be mounted on this
Parking stall side and the earth magnetism wagon detector for closing on the parking stall；Cavity is equipped with inside the car lock main body；The circuit board,
The range finder, the warning light and voice module setting are in the cavity, the range finder, described
Earth magnetism wagon detector, the warning light and the voice module respectively with the circuit board electrical connection.Further, described
Car lock main body is equipped with the tip parts with two dimensional code；The tip parts is hemisphere structure, the hemisphere structure
Spherical surface connect with the top of the car lock main body, the plane of the hemisphere structure is equipped with the two dimensional code.Further,
The car lock main body and horizontal plane, the angle between the plane and horizontal plane of the hemisphere structure is at 90 ° to 180 °
Between.Further, the car lock main body is cylinder, and the car lock main body inner wall is successively arranged circuit board from the bottom to top
Mounting portion, spacing detection mounting portion, voice module mounting portion and warning light mounting portion, the circuit board are mounted on the circuit
On plate mounting portion, the range finder is mounted on the spacing detection mounting portion, and the voice module is mounted on institute's predicate
Sound module mounting portion, the warning light are mounted on the warning light mounting portion.Further, the range finder can be
Ultrasonic detector, infrared facility or microwave radar detector.Further, the vehicle detection apparatus further includes power supply mould
Block, power module setting in the cavity and with the circuit board electrical connection.Further, the vehicle detection apparatus
Further include the wireless communication module for being wirelessly connected with cloud platform, wireless communication module setting in the cavity and with
The circuit board electrical connection.The wireless communication module is 2G/3G/4G module, LORA module or NB-IoT module.
The vehicle detection apparatus is mounted on the device of parking stall side, does not influence road traffic.In other embodiments,
The earth magnetism wagon detector may be mounted in the car lock main body.
Embodiment one
Referring to Fig. 2, it is a kind of flow chart of the vehicle provided by the invention in position detecting method, the vehicle is examined in place
Survey method, comprising:
S100: detect on corresponding parking stall whether have vehicle using earth magnetism wagon detector and range finder cooperation；
S200: the ground magnetic value of the earth magnetism wagon detector detection and the distance letter of range finder detection are obtained
Breath；
S300: according to described ground magnetic value, judge whether the state of the parking stall changes；
S400: when the state for judging the parking stall according to described ground magnetic value changes, according to the range information, judgement
Whether the range finder detects the parking stall for car-free status and in the parking stall before the state of the parking stall changes
State change after whether detect the parking stall be car-free status；
S500: when the range finder the parking stall state change before detect the parking stall be car-free status and
It detects that the parking stall is car-free status after the state of the parking stall changes, determines that the range finder is abnormal；
In the present embodiment, if the earth magnetism wagon detector detects that the parking space state changes, at this point, if the distance
Detector detects that the parking stall, then can be with without vehicle before and after the earth magnetism wagon detector detects that the parking space state changes
Determine that the range finder abnormal phenomenon, such as probe icing, frosting either someone's object etc. occurs and clogs distance spy
Survey device probe.If the accurate detecting distance of range finder is 0.03-8 meters, the distance detected less than 0.03 meter will be inaccurate, greatly
In 8 meters with closely clogged after probe as the result that detects, be all maximum value.
S600: when the range finder exception, according to described ground magnetic value, judge whether there is vehicle on corresponding parking stall；
S700: when the range finder is normal, according to the range information, judge whether there is vehicle on corresponding parking stall.
In the present embodiment, earth magnetism wagon detector and range finder are enabled, vehicle cooperation detection is carried out to parking stall；Ground
Influence constrained each other between magnetic vehicle detector and the vehicle detection result of range finder, such as: the detection of base area magnetic vehicle
The ground magnetic value that device detects first determines whether range finder is abnormal；When the range finder exception, with the earth magnetism
Subject to the vehicle detection result of wagon detector, determine whether the parking stall has vehicle, when the range finder is normal, with described
Subject to the vehicle detection result of range finder, determine whether the parking stall has vehicle.It can be improved vehicle by this method to examine in place
The accuracy rate of survey, the case where effectively avoiding missing inspection, false retrieval, to prevent user from stopping fee evasion.
The positional relationship of the earth magnetism wagon detector and the range finder is as follows: the range finder is mounted on
In the car lock main body；If the car lock main body is close from the parking stall, the earth magnetism wagon detector can be installed to described
In car lock main body, if the car lock main body is remote from the parking stall, the earth magnetism wagon detector will be installed to the parking stall side
The subsurface on side or the subsurface of parking stall, to avoid apart from the too far accuracy rate that can reduce earth magnetism in parking stall, described ground magnetic vehicle
Detector can be wired or be wirelessly connected.
In an alternative embodiment, the range finder is ultrasonic detector or microwave radar detector or red
Outer line detector.
In an alternative embodiment, described to judge whether the state of the parking stall changes according to described ground magnetic value, tool
Body includes:
When the current detected state of the earth magnetism wagon detector is no vehicle, the fluctuation peak value of local magnetic value reaches first
Preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbance be when reaching the second preset value, to judge vehicle
Position state changes；The parking space state change is judged as have vehicle to enter the parking stall, and there is vehicle in the parking stall；
When the current detected state of the earth magnetism wagon detector, which is, vehicle, the fluctuation peak value of local magnetic value reaches the 4th
Preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbance be when reaching five preset values, to judge vehicle
Position state changes；The parking space state change is judged as have vehicle to leave the parking stall, and the parking stall is without vehicle.
Wherein, first preset value is 50 μ T, and the second preset value is 20 μ T.Local magnetic value fluctuation peak value reaches 50 μ T,
And the difference of ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and the ground magnetic value before disturbance is when reaching 20 μ T, the earth magnetism wagon detector
Judge that the state of the parking stall changes, that is, there is vehicle to enter the parking stall.4th setting value is 40 μ T, the 5th setting
Value is 20 μ T.When the current detected state of the earth magnetism wagon detector, which is, vehicle, if magnetic value fluctuation peak value in ground reaches 40 μ T,
And the difference of ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and the ground magnetic value before disturbance is when reaching 20 μ T, the earth magnetism wagon detector
Judge that the state of the parking stall changes, that is, there is vehicle to leave the parking stall, judges the parking stall without vehicle.
In an alternative embodiment, described according to the range information, judge whether there is vehicle on corresponding parking stall, specifically
Include:
The range information is one group of range information that the range finder is continuously detected according to setting time interval；Its
In, range information described in one group includes N number of distance value；
When at least 2/N distance value in N number of distance value numerical value second setting numberical range in, judge the vehicle
There is vehicle in position；
When at least 2/N distance value in N number of distance value numerical value third setting numberical range in, judge the vehicle
Position is without vehicle；
Wherein, second numberical range is set as 0.3m~2m.I.e. when the distance value that the range finder detects exists
When in 0.3m~2m, judge that there is vehicle in the parking stall.Further, range information described in one group includes 10 continuously detected in 1s
Distance value.For example, there are 6 distance values in 0.3m~2m in range information described in working as one group, i.e. have 6 times in 10 vehicle detections
Being judged as has vehicle, at this point, the vehicle detection result of the range finder is judged as there is vehicle.Above-mentioned detection process is the distance
The basic vehicle of detector testing process in place.Further, when the currently detected parking stall of the range finder is to have
When car state, it is divided between the setting time 10 seconds；When the currently detected parking stall of the range finder is car-free status
When, 3min is divided between the setting time.In the present embodiment, the one group of range information of detection in every 3min or 10 second, can protect
On the basis of demonstrate,proving range finder detection accuracy, the energy consumption of vehicle detection apparatus is effectively reduced, improves vehicle detection apparatus
Service life.
Further, the vehicle further includes range finder abnormal restoring judgment step in position detecting method:
When the number for having at least 2/N distance value in one group of range information in the range information that the range finder detects
When value is in the first setting numberical range, determine that the range finder restores normal；
Wherein, range information described in one group includes N number of distance value；
Described first sets numberical range as 0.3m~7m.It, can the first setting number described in appropriate adjustment based on different scenes
It is worth range.
In an alternative embodiment, the vehicle detection step of the range finder further include:
When the range finder detects that the parking stall is with vehicles, controls the range finder and enter suspend mode
State, and reach third preset value in the fluctuation peak value of described ground magnetic value, when triggering the range finder according to the first setting
Between interval detection M group range information；Wherein, M vehicle detection result is obtained according to M group range information correspondence；
When the corresponding vehicle detection result of any one group of range information is no vehicle in the M group range information, institute is judged
Parking stall is stated without vehicle.
In an alternative embodiment, the vehicle detection step of the range finder further include:
When the range finder detects that the parking stall is car-free status, controls the range finder and enter suspend mode
State, and reach third preset value in the fluctuation peak value of described ground magnetic value, when triggering the range finder according to the first setting
Between interval detection S group range information；When the corresponding vehicle detection result of continuous L group range information in the S group range information
It is to judge that there is vehicle in the parking stall when having vehicle；
Wherein, S >=L.
In an alternative embodiment, the vehicle detection step of the range finder further include:
When the range finder detects that the parking stall is car-free status, the range finder is controlled according to second
Setting time interval detecting distance information judges institute when the corresponding vehicle detection result of continuous L group range information is to have vehicle
Stating parking stall has vehicle；And reach third preset value in the fluctuation peak value of described ground magnetic value, the range finder is triggered according to first
Detect S group range information in setting time interval；Wherein, S >=L；
When the corresponding vehicle detection result of continuous L group range information in the S group range information is to have vehicle, judgement
There is vehicle in the parking stall.
In the present embodiment, the third preset value is 15 μ T, and first setting time is 10 seconds, second setting
Time is 3 minutes.For example, when the current vehicle testing result of the range finder be have vehicle when, the range finder into
Enter dormant state, and reach 15 μ T in the fluctuation peak value of described ground magnetic value, triggers the range finder according between 10 second time
Every detecting 18 groups of range informations, to obtain corresponding vehicle detection as a result, when any one group of distance letter in 18 groups of range informations
When ceasing corresponding vehicle detection result for no vehicle, determine that the parking stall without vehicle, and stops detecting remaining set.When the distance measurement
When the current vehicle testing result of device is no vehicle, specific there are two types of detection modes, such as: mode one: when the range finder
Current vehicle testing result for no vehicle when, the range finder enters dormant state, and at the fluctuation peak of described ground magnetic value
Value reaches 15 μ T, triggers the range finder and carries out vehicle detection, detects 6 groups of range informations according to 10 seconds intervals,
When the corresponding vehicle detection result of 3 groups of range informations continuous in 6 groups of range informations, which is, vehicle, determine that the parking stall has
Vehicle.Mode two: when the current vehicle testing result of the range finder is no vehicle, according to the detection of 3 minute time intervals away from
Determine that there is vehicle in the parking stall when the corresponding vehicle detection result of continuous 3 groups of range informations, which is, vehicle from information；If crossing herein
Described in journey the fluctuation peak value of magnetic value reach 15 μ T, then trigger the range finder and carry out vehicle detection, according to 10 seconds
Time interval detects 6 groups of range informations, when the corresponding vehicle detection result of 3 groups of range informations continuous in 6 groups of range informations
When to there is vehicle, determine that there is vehicle in the parking stall.Wherein, the basic vehicle of specific vehicle detection step and above-mentioned range finder exists
Position testing process is identical, herein not in repeated explanation.
It needs to move backward many times back and forth due to vehicle, be reported not in time if vehicle is walked, subsequent vehicle may just come in, shadow
Ring subsequent vehicle detection result.The vehicle of above-mentioned range finder testing process in place, can be adapted in a variety of situations
Vehicle detects in place, such as stops for new hand, and continuous situations such as entering same parking stall repeatedly can also in the same vehicle short time
To realize that accurate vehicle detects in place, the accuracy rate that vehicle detects in place is further increased.
In an alternative embodiment, described according to described ground magnetic value, judge whether there is vehicle on corresponding parking stall, it is specific to wrap
It includes:
When the current detected state of the earth magnetism wagon detector is no vehicle, the fluctuation peak value of local magnetic value reaches first
Preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbance be when reaching the second preset value, judgement has
Vehicle enters the parking stall, has vehicle with the determination parking stall；
When the current detected state of the earth magnetism wagon detector, which is, vehicle, the fluctuation peak value of local magnetic value reaches the 4th
Preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbance be when reaching five preset values, judgement has
Vehicle leaves the parking stall, with the determination parking stall without vehicle.
I.e. when the current detected state of the earth magnetism wagon detector is no vehicle, local magnetic value fluctuation peak value reaches 50 μ
T, and when the difference of ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and the ground magnetic value before disturbance reaches 20 μ T, the earth magnetism vehicle detection
Device judges that the state of the parking stall changes, that is, has vehicle to enter the parking stall.When the current detection of the earth magnetism wagon detector
State is when having vehicle, if magnetic value fluctuation peak value in ground reaches 40 μ T, and before the ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and disturbance
When the difference of ground magnetic value reaches 20 μ T, the earth magnetism wagon detector judges that the state of the parking stall changes, that is, has vehicle to leave
The parking stall judges the parking stall without vehicle.
In an alternative embodiment, the vehicle detection step of the earth magnetism wagon detector further include:
When the current detected state of the earth magnetism wagon detector is no vehicle, the fluctuation peak value of local magnetic value reaches first
Preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbance when being not up to the second preset value, inquiry
Whether server generates the corresponding parking order in the parking stall；
When inquiring the server and generating the corresponding parking order in the parking stall, by the earth magnetism wagon detector
Current detected state has been updated to vehicle.
Further, when the range finder exception, and whether the earth magnetism wagon detector can not judge the parking stall
Have when vehicle that (the ground magnetic value fluctuation peak value detected reaches 50 μ T, and before the ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and disturbance
The difference of ground magnetic value be not up to 20 μ T thresholds), can be by inquiring the clothes that connect with the earth magnetism wagon detector wireless telecommunications
Whether business device generates the corresponding parking order in the parking stall, if so, determining parking stall someone parking, while by described ground magnetic vehicle
The current detected state of detector has been modified to vehicle；If without corresponding parking order, the earth magnetism wagon detector is worked as
Preceding detecting state remains unchanged.It is modified by the current detected state to the earth magnetism wagon detector, it can be to avoid institute
The case where there is mistake, effectively avoids false retrieval in the decision logic for stating earth magnetism wagon detector.
In an alternative embodiment, the vehicle includes: in position detecting method
When the range finder detects that the parking stall is with vehicles, by the current of the earth magnetism wagon detector
Detecting state is updated to vehicles.
In this embodiment, when the range finder is normal, no matter the testing result of the earth magnetism wagon detector is
No identical as the range finder, when the range finder detects that the parking stall is with vehicles, pressure will be described
The current detected state of earth magnetism wagon detector is updated to vehicles.By in real time to the current of the earth magnetism wagon detector
Detecting state is modified, and mistake occurs in the decision logic that can further avoid the earth magnetism wagon detector, is effectively avoided
The case where false retrieval.
Embodiment two
Referring to Fig. 3, it is that the embodiment of the invention also provides a kind of schematic diagram of vehicle in-place detection system, the vehicles
In-place detection system, comprising:
Starting module 1 is detected, is for being detected on corresponding parking stall using earth magnetism wagon detector and range finder cooperation
It is no to have vehicle；
Data obtaining module 2, for obtaining the ground magnetic value and the distance measurement of the earth magnetism wagon detector detection
The range information of device detection；
First vehicle on-site judgment module 3, for judging whether the state of the parking stall changes according to described ground magnetic value；
Second vehicle on-site judgment module 4, for when judged according to described ground magnetic value the parking stall state change when,
According to the range information, judge whether the range finder detects that the parking stall is before the state of the parking stall changes
Car-free status and the state of the parking stall change after whether detect the parking stall be car-free status；
Abnormal judgment module 5, for detecting the vehicle before the state of the parking stall changes when the range finder
Position is car-free status and detects that the parking stall is car-free status after the change of the state of the parking stall, determines the distance measurement
Device is abnormal；
In the present embodiment, if the earth magnetism wagon detector detects that the parking space state changes, at this point, if the distance
Detector detects that the parking stall, then can be with without vehicle before and after the earth magnetism wagon detector detects that the parking space state changes
Determine that the range finder abnormal phenomenon, such as probe icing, frosting either someone's object etc. occurs and clogs distance spy
Survey device probe.If the accurate detecting distance of range finder is 0.03-8 meters, the distance detected less than 0.03 meter will be inaccurate, greatly
In 8 meters with closely clogged after probe as the result that detects, be all maximum value.
Third vehicle on-site judgment module 6, for according to described ground magnetic value, judging when the range finder exception
Whether there is vehicle on corresponding parking stall；
4th vehicle on-site judgment module 7, for according to the range information, sentencing when the range finder is normal
Whether there is vehicle on disconnected corresponding parking stall.
In the present embodiment, earth magnetism wagon detector and range finder are enabled, vehicle cooperation detection is carried out to parking stall；Ground
Influence constrained each other between magnetic vehicle detector and the vehicle detection result of range finder, such as: the detection of base area magnetic vehicle
The ground magnetic value that device detects first determines whether range finder is abnormal；When the range finder exception, with the earth magnetism
Subject to the vehicle detection result of wagon detector, determine whether the parking stall has vehicle, when the range finder is normal, with described
Subject to the vehicle detection result of range finder, determine whether the parking stall has vehicle.It can be improved vehicle by this method to examine in place
The accuracy rate of survey, the case where effectively avoiding missing inspection, false retrieval, to prevent user from stopping fee evasion.
The positional relationship of the earth magnetism wagon detector and the range finder is as follows: the range finder is mounted on
In the car lock main body；If the car lock main body is close from the parking stall, the earth magnetism wagon detector can be installed to described
In car lock main body, if the car lock main body is remote from the parking stall, the earth magnetism wagon detector will be installed to the parking stall side
The subsurface on side or the subsurface of parking stall, to avoid apart from the too far accuracy rate that can reduce earth magnetism in parking stall, described ground magnetic vehicle
Detector can be wired or be wirelessly connected.
In an alternative embodiment, the range finder is ultrasonic detector or microwave radar detector or red
Outer line detector.
In an alternative embodiment, the first vehicle on-site judgment module 3, for working as the earth magnetism vehicle detection
When the current detected state of device is no vehicle, after the fluctuation peak value of local magnetic value reaches the first preset value, and GEOMAGNETIC CHANGE is steady
The difference of ground magnetic value before ground magnetic value and disturbance is to judge that parking space state changes when reaching the second preset value；The parking space state changes
Change, which is judged as, has vehicle to enter the parking stall, and there is vehicle in the parking stall；When the current detected state of the earth magnetism wagon detector is
When having vehicle, the fluctuation peak value of local magnetic value reaches the 4th preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the ground before disturbance
The difference of magnetic value is to judge that parking space state changes when reaching five preset values；The parking space state change is judged as have vehicle to leave
The parking stall, the parking stall is without vehicle.
Wherein, first preset value is 50 μ T, and the second preset value is 20 μ T.Local magnetic value fluctuation peak value reaches 50 μ T,
And the difference of ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and the ground magnetic value before disturbance is when reaching 20 μ T, the earth magnetism wagon detector
Judge that the state of the parking stall changes, that is, there is vehicle to enter the parking stall.4th setting value is 40 μ T, the 5th setting
Value is 20 μ T.When the current detected state of the earth magnetism wagon detector, which is, vehicle, if magnetic value fluctuation peak value in ground reaches 40 μ T,
And the difference of ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and the ground magnetic value before disturbance is when reaching 20 μ T, the earth magnetism wagon detector
Judge that the state of the parking stall changes, that is, there is vehicle to leave the parking stall, judges the parking stall without vehicle.
In an alternative embodiment, the 4th vehicle on-site judgment module 7 includes: the first vehicle detection unit；
The range information is one group of range information that the range finder is continuously detected according to setting time interval；Its
In, range information described in one group includes N number of distance value；
First vehicle detection unit, for the numerical value when at least 2/N distance value in N number of distance value in the second setting
In numberical range, judge that there is vehicle in the parking stall；When the numerical value of at least 2/N distance value in N number of distance value is set in third
In numberical range, judge the parking stall without vehicle.
Wherein, second numberical range is set as 0.3m~2m.I.e. when the distance value that the range finder detects exists
When in 0.3m~2m, judge that there is vehicle in the parking stall.Further, range information described in one group includes 10 continuously detected in 1s
Distance value.For example, there are 6 distance values in 0.3m~2m in range information described in working as one group, i.e. have 6 times in 10 vehicle detections
Being judged as has vehicle, at this point, the vehicle detection result of the range finder is judged as there is vehicle.Above-mentioned detection process is the distance
The basic vehicle of detector testing process in place.Further, when the currently detected parking stall of the range finder is to have
When car state, it is divided between the setting time 10 seconds；When the currently detected parking stall of the range finder is car-free status
When, 3min is divided between the setting time.In the present embodiment, the one group of range information of detection in every 3min or 10 second, can protect
The energy consumption of vehicle detection apparatus is effectively reduced on the basis of detection accuracy in card, improves vehicle detection apparatus and uses the longevity
Life.
Further, the vehicle in-place detection system further includes range finder abnormal restoring judgment module, for working as
There is the numerical value of at least 2/N distance value in one group of range information to set in the range information that the range finder detects first
When determining in numberical range, determine that the range finder restores normal；
Wherein, range information described in one group includes N number of distance value.
Described first sets numberical range as 0.3m~7m.It, can the first setting number described in appropriate adjustment based on different scenes
It is worth range.
In an alternative embodiment, the 4th vehicle on-site judgment module 7 includes: the second vehicle detection unit；
The second vehicle detection unit, for when the range finder detect the parking stall be it is with vehicles when,
It controls the range finder and enters dormant state, and reach third preset value in the fluctuation peak value of described ground magnetic value, trigger institute
It states range finder and detects M group range information according to the first setting time interval；Wherein, corresponding according to the M group range information
Obtain M vehicle detection result；When the corresponding vehicle detection result of any one group of range information is nothing in the M group range information
Che Shi judges the parking stall without vehicle.
In an alternative embodiment, the 4th vehicle on-site judgment module 7 includes: third vehicle detection unit,
For controlling the range finder and entering suspend mode shape when the range finder detects that the parking stall is car-free status
State, and reach third preset value in the fluctuation peak value of described ground magnetic value, the range finder is triggered according to the first setting time
Interval detection S group range information；When the corresponding vehicle detection result of continuous L group range information in the S group range information is equal
When to there is vehicle, judge that there is vehicle in the parking stall；
Wherein, S >=L.
In an alternative embodiment, the 4th vehicle on-site judgment module 7 includes: the 4th vehicle detection unit,
For when the range finder detects that the parking stall is car-free status, controlling the range finder according to the second setting
Time interval detecting distance information judges the vehicle when the corresponding vehicle detection result of continuous L group range information is to have vehicle
There is vehicle in position；And reach third preset value in the fluctuation peak value of described ground magnetic value, the range finder is triggered according to the first setting
Time interval detects S group range information；Wherein, S >=L；When the continuous L group range information in the S group range information is corresponding
Vehicle detection result is to judge that there is vehicle in the parking stall when having vehicle.
In the present embodiment, the third preset value is 15 μ T, and first setting time is 10 seconds, second setting
Time is 3 minutes.For example, when the current vehicle testing result of the range finder be have vehicle when, the range finder into
Enter dormant state, and reach 15 μ T in the fluctuation peak value of described ground magnetic value, triggers the range finder according between 10 second time
Every detecting 18 groups of range informations, to obtain corresponding vehicle detection as a result, when any one group of distance letter in 18 groups of range informations
When ceasing corresponding vehicle detection result for no vehicle, determine that the parking stall without vehicle, and stops detecting remaining set.When the distance measurement
When the current vehicle testing result of device is no vehicle, specific there are two types of detection modes, such as: mode one: when the range finder
Current vehicle testing result for no vehicle when, the range finder enters dormant state, and at the fluctuation peak of described ground magnetic value
Value reaches 15 μ T, triggers the range finder and carries out vehicle detection, detects 6 groups of range informations according to 10 seconds time intervals, when
The corresponding vehicle detection result of continuous 3 groups of range informations is when having vehicle, to determine that there is vehicle in the parking stall in 6 groups of range informations.
Mode two: when the current vehicle testing result of the range finder is no vehicle, believe according to 3 minute time interval detecting distances
Breath determines the parking stall without vehicle when the corresponding vehicle detection result of continuous 3 groups of range informations, which is, vehicle；If in the process
The fluctuation peak value of described ground magnetic value reaches 15 μ T, then triggers the range finder and carry out vehicle detection, according between 10 second time
Every detecting 6 groups of range informations, when the corresponding vehicle detection result of 3 groups of range informations continuous in 6 groups of range informations is to have vehicle
When, determine that there is vehicle in the parking stall.Wherein, specific vehicle detection step and the basic vehicle of above-mentioned range finder detect in place
Process is identical, herein not in repeated explanation.
It needs to move backward many times back and forth due to vehicle, be reported not in time if vehicle is walked, subsequent vehicle may just come in, shadow
Ring subsequent vehicle detection result.The vehicle of above-mentioned range finder testing process in place, can be adapted in a variety of situations
Vehicle detects in place, such as stops for new hand, and continuous situations such as entering same parking stall repeatedly can also in the same vehicle short time
To realize that accurate vehicle detects in place, the accuracy rate that vehicle detects in place is further increased.
In an alternative embodiment, the first vehicle on-site judgment module 4 includes:
First geomagnetism detecting unit, it is local for when the current detected state of the earth magnetism wagon detector is no vehicle
The fluctuation peak value of magnetic value reaches the first preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of the ground magnetic value before disturbance be to reach
When to the second preset value, judgement has vehicle to enter the parking stall, has vehicle with the determination parking stall；
Second geomagnetism detecting unit, it is local for when the current detected state of the earth magnetism wagon detector, which is, vehicle
The fluctuation peak value of magnetic value reaches the 4th preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of the ground magnetic value before disturbance be to reach
When to five preset values, judgement has vehicle to leave the parking stall, with the determination parking stall without vehicle.
I.e. when the current detected state of the earth magnetism wagon detector is no vehicle, local magnetic value fluctuation peak value reaches 50 μ
T, and when the difference of ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and the ground magnetic value before disturbance reaches 20 μ T, the earth magnetism vehicle detection
Device judges that the state of the parking stall changes, that is, has vehicle to enter the parking stall.When the current detection of the earth magnetism wagon detector
State is when having vehicle, if magnetic value fluctuation peak value in ground reaches 40 μ T, and before the ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and disturbance
When the difference of ground magnetic value reaches 20 μ T, the earth magnetism wagon detector judges that the state of the parking stall changes, that is, has vehicle to leave
The parking stall judges the parking stall without vehicle.
In an alternative embodiment, the first vehicle on-site judgment module 4 includes:
Order inquiring unit, for when the current detected state of the earth magnetism wagon detector is no vehicle, local magnetic value
Fluctuation peak value reach the first preset value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of the ground magnetic value before disturbance be to be not up to
When the second preset value, whether query service device generates the corresponding parking order in the parking stall；
State updating unit, for when inquiring the server and generating the corresponding parking order in the parking stall, by institute
The current detected state for stating earth magnetism wagon detector has been updated to vehicle.
Further, when the range finder exception, and whether the earth magnetism wagon detector can not judge the parking stall
Have when vehicle that (the ground magnetic value fluctuation peak value detected reaches 50 μ T, and before the ground magnetic value after GEOMAGNETIC CHANGE steady 30 seconds and disturbance
The difference of ground magnetic value be not up to 20 μ T thresholds), can be by inquiring the clothes that connect with the earth magnetism wagon detector wireless telecommunications
Whether business device generates the corresponding parking order in the parking stall, if so, determining parking stall someone parking, while by described ground magnetic vehicle
The current detected state of detector has been modified to vehicle；If without corresponding parking order, the earth magnetism wagon detector is worked as
Preceding detecting state remains unchanged.It is modified by the current detected state to the earth magnetism wagon detector, it can be to avoid institute
The case where there is mistake, effectively avoids false retrieval in the decision logic for stating earth magnetism wagon detector.
In an alternative embodiment, the vehicle in-place detection system includes:
Earth magnetism wagon detector state update module, for detecting that the parking stall is to have vehicle shape when the range finder
When state, the current detected state of the earth magnetism wagon detector is updated to vehicles.
In this embodiment, when the range finder is normal, no matter the testing result of the earth magnetism wagon detector is
No identical as the range finder, when the range finder detects that the parking stall is with vehicles, pressure will be described
The current detected state of earth magnetism wagon detector is updated to vehicles.By in real time to the current of the earth magnetism wagon detector
Detecting state is modified, and mistake occurs in the decision logic that can further avoid the earth magnetism wagon detector, is effectively avoided
The case where false retrieval.
Compared with the existing technology, a kind of vehicle provided in an embodiment of the present invention is in the beneficial effect of position detecting method:
Detect on corresponding parking stall whether have vehicle using earth magnetism wagon detector and range finder cooperation；Obtain the earth magnetism vehicle detection
The ground magnetic value of device detection and the range information of range finder detection；According to described ground magnetic value and the range information,
Judge whether the range finder is abnormal；When the range finder exception, according to described ground magnetic value, corresponding parking stall is judged
On whether have vehicle；When the range finder is normal, according to the range information, judge whether there is vehicle on corresponding parking stall；I.e.
When the range finder exception, it is subject to the vehicle detection result of the earth magnetism wagon detector, when the distance measurement
When device is normal, it is subject to the vehicle detection result of the range finder.It can be improved what vehicle detected in place by this method
Accuracy rate, the case where effectively avoiding missing inspection, false retrieval, to prevent user from stopping fee evasion.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (11)
1. a kind of vehicle is in position detecting method characterized by comprising
Detect on corresponding parking stall whether have vehicle using earth magnetism wagon detector and range finder cooperation；
Obtain the ground magnetic value of the earth magnetism wagon detector detection and the range information of range finder detection；
According to described ground magnetic value, judge whether the state of the parking stall changes；
When the state for judging the parking stall according to described ground magnetic value changes, according to the range information, the distance is judged
Whether detector detects that the parking stall is car-free status and the state in the parking stall changes before the state of the parking stall changes
Whether detect the parking stall into car-free status after change；
When the range finder detects the parking stall for car-free status and in the vehicle before the state of the parking stall changes
The state of position detects that the parking stall is car-free status after changing, determine that the range finder is abnormal；
When the range finder exception, according to described ground magnetic value, judge whether there is vehicle on corresponding parking stall；
When the range finder is normal, according to the range information, judge whether there is vehicle on corresponding parking stall.
2. vehicle as described in claim 1 is in position detecting method, which is characterized in that the range finder is ultrasonic listening
Device or microwave radar detector or pyroscan.
3. vehicle as described in claim 1 is in position detecting method, which is characterized in that the vehicle further includes in position detecting method
Range finder abnormal restoring judgment step:
When there is the numerical value of at least 2/N distance value in one group of range information to exist in the range information that the range finder detects
When in the first setting numberical range, determine that the range finder restores normal；
Wherein, range information described in one group includes N number of distance value.
4. vehicle as described in claim 1 is in position detecting method, which is characterized in that it is described according to described ground magnetic value, judge institute
Whether the state for stating parking stall changes, and specifically includes:
When the current detected state of the earth magnetism wagon detector is no vehicle, it is default that the fluctuation peak value of local magnetic value reaches first
Value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbing be to judge parking stall shape when reaching the second preset value
State changes；The parking space state change is judged as have vehicle to enter the parking stall, and there is vehicle in the parking stall；
When the current detected state of the earth magnetism wagon detector, which is, vehicle, it is default that the fluctuation peak value of local magnetic value reaches the 4th
Value, and GEOMAGNETIC CHANGE it is steady after ground magnetic value and the difference of ground magnetic value before disturbing be to judge parking stall shape when reaching five preset values
State changes；The parking space state change is judged as have vehicle to leave the parking stall, and the parking stall is without vehicle.
5. vehicle as described in claim 1 is in position detecting method, which is characterized in that described according to the range information, judgement
Whether there is vehicle on corresponding parking stall, specifically include:
The range information is one group of range information that the range finder is continuously detected according to setting time interval；Wherein,
Range information described in one group includes N number of distance value；
When at least 2/N distance value in N number of distance value numerical value second setting numberical range in, judge that the parking stall has
Vehicle；
When at least 2/N distance value in N number of distance value numerical value third setting numberical range in, judge the parking stall without
Vehicle.
6. vehicle as claimed in claim 5 is in position detecting method, which is characterized in that the vehicle detection of the range finder walks
Suddenly further include:
When the range finder detects that the parking stall is with vehicles, controls the range finder and enter suspend mode shape
State, and reach third preset value in the fluctuation peak value of described ground magnetic value, the range finder is triggered according to the first setting time
Interval detection M group range information；Wherein, M vehicle detection result is obtained according to M group range information correspondence；
When the corresponding vehicle detection result of any one group of range information is no vehicle in the M group range information, the vehicle is judged
Position is without vehicle.
7. vehicle as claimed in claim 5 is in position detecting method, which is characterized in that the vehicle detection of the range finder walks
Suddenly further include:
When the range finder detects that the parking stall is with vehicles, the charging pile controls the range finder and presses
According to the second setting time interval detecting distance information, when the corresponding vehicle detection result of continuous L group range information is no vehicle,
The charging pile determines the parking stall without vehicle；And reach third preset value, the charging pile in the fluctuation peak value of described ground magnetic value
It controls the range finder and detects M group range information according to the first setting time interval；Wherein, according to the M group distance letter
Breath correspondence obtains M vehicle detection result；
When the corresponding vehicle detection result of any one group of range information is no vehicle in the M group range information, the charging pile
Determine the parking stall without vehicle.
8. if vehicle described in claim 5 or 6 is in position detecting method, which is characterized in that the vehicle of the range finder is examined
Survey step further include:
When the range finder detects that the parking stall is car-free status, controls the range finder and enter suspend mode shape
State, and reach third preset value in the fluctuation peak value of described ground magnetic value, the range finder is triggered according to the first setting time
Interval detection S group range information；When the corresponding vehicle detection result of continuous L group range information in the S group range information is equal
When to there is vehicle, judge that there is vehicle in the parking stall；
Wherein, S >=L.
9. vehicle as claimed in claims 6 or 7 is in position detecting method, which is characterized in that the vehicle of the range finder is examined
Survey step further include:
When the range finder detects that the parking stall is car-free status, the range finder is controlled according to the second setting
Time interval detecting distance information judges the vehicle when the corresponding vehicle detection result of continuous L group range information is to have vehicle
There is vehicle in position；And reach third preset value in the fluctuation peak value of described ground magnetic value, the range finder is triggered according to the first setting
Time interval detects S group range information；Wherein, S >=L；
When the corresponding vehicle detection result of continuous L group range information in the S group range information is to have vehicle, described in judgement
There is vehicle in parking stall.
10. vehicle as described in claim 1 is in position detecting method, which is characterized in that the vehicle includes: in position detecting method
When the range finder detects that the parking stall is with vehicles, by the current detection of the earth magnetism wagon detector
State is updated to vehicles.
11. a kind of vehicle in-place detection system characterized by comprising
Starting module is detected, whether is had for being detected on corresponding parking stall using earth magnetism wagon detector and range finder cooperation
Vehicle；
Data obtaining module, for obtaining ground magnetic value and the range finder detection of the earth magnetism wagon detector detection
Range information；
First vehicle on-site judgment module, for judging whether the state of the parking stall changes according to described ground magnetic value；
Second vehicle on-site judgment module, for when judged according to described ground magnetic value the parking stall state change when, according to
The range information, judges whether the range finder detects the parking stall for no vehicle before the state of the parking stall changes
State and the state of the parking stall change after whether detect the parking stall be car-free status；
Abnormal judgment module, for detecting that the parking stall is nothing before the state of the parking stall changes when the range finder
Car state and the state of the parking stall change after detect the parking stall be car-free status, determine that the range finder is different
Often；
Third vehicle on-site judgment module, for according to described ground magnetic value, judging corresponding vehicle when the range finder exception
Whether there is vehicle on position；
4th vehicle on-site judgment module, for according to the range information, judging to correspond to when the range finder is normal
Whether there is vehicle on parking stall.
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| CN201811626598.XA CN109615876A (en) | 2018-12-28 | 2018-12-28 | A kind of vehicle is in position detecting method and system |
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| CN111524364A (en) * | 2020-04-29 | 2020-08-11 | 武汉拓宝科技股份有限公司 | Parking space state detection method and system |
| CN111815964A (en) * | 2020-09-02 | 2020-10-23 | 四川九通智路科技有限公司 | Traffic flow detection system and method based on geomagnetic sensing type spike |
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Application publication date: 20190412 |